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<div class="title">common_header.hpp</div>  </div>
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<a href="common__header_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef COMMON_HEADER_HPP</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define COMMON_HEADER_HPP</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigen&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;blmc_drivers/devices/motor.hpp&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;blmc_drivers/devices/analog_sensor.hpp&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">   23</a></span>&#160;<span class="keyword">typedef</span> Eigen::Matrix&lt;double, 1, 1&gt; <a class="code" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">Vector1d</a>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">   28</a></span>&#160;<span class="keyword">typedef</span> Eigen::Matrix&lt;double, 2, 1&gt; <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">   33</a></span>&#160;<span class="keyword">typedef</span> Eigen::Matrix&lt;double, 8, 1&gt; <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a>;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a793c8789a7598e8aaf766939da7262af">   38</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::CanBus&gt; <a class="code" href="namespaceblmc__robots.html#a793c8789a7598e8aaf766939da7262af">CanBus_ptr</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#aab1c6ddb1273247a1b45d5e8b417c216">   43</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::CanBusMotorBoard&gt; <a class="code" href="namespaceblmc__robots.html#aab1c6ddb1273247a1b45d5e8b417c216">CanBusMotorBoard_ptr</a>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#ae1a0f9992bc8fbbc1943d887f517c180">   48</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::MotorInterface&gt; <a class="code" href="namespaceblmc__robots.html#ae1a0f9992bc8fbbc1943d887f517c180">MotorInterface_ptr</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#aeba0df1e898326cde4922419d871c5c6">   53</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::Motor&gt; <a class="code" href="namespaceblmc__robots.html#aeba0df1e898326cde4922419d871c5c6">Motor_ptr</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">   58</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::SafeMotor&gt; <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">   63</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::AnalogSensor&gt; <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#ac78fe5c68e56a3b884117109959e4d58">   69</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::AnalogSensor&gt; <a class="code" href="namespaceblmc__robots.html#ac78fe5c68e56a3b884117109959e4d58">ContactSensor_ptr</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a921d3f5a8878524375bf7e740f2fb788">   75</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;blmc_drivers::AnalogSensor&gt; <a class="code" href="namespaceblmc__robots.html#a921d3f5a8878524375bf7e740f2fb788">HeightSensor_ptr</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="namespaceblmc__robots.html#a1975c6bb47bc85dfc8edfe349c30dae1">   80</a></span>&#160;<span class="keyword">typedef</span> blmc_drivers::MotorInterface::MeasurementIndex <a class="code" href="namespaceblmc__robots.html#a1975c6bb47bc85dfc8edfe349c30dae1">mi</a>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="preprocessor">#endif // COMMON_HEADER_HPP</span></div><div class="ttc" id="namespaceblmc__robots_html_a921d3f5a8878524375bf7e740f2fb788"><div class="ttname"><a href="namespaceblmc__robots.html#a921d3f5a8878524375bf7e740f2fb788">blmc_robots::HeightSensor_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt; HeightSensor_ptr</div><div class="ttdoc">HeightSensor_ptr shortcut for the height sensor. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:75</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a4cb9a95e8b2c0bf237ce29f5252c7b73"><div class="ttname"><a href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">blmc_robots::Slider_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt; Slider_ptr</div><div class="ttdoc">Slider_ptr shortcut for the linear potentiometer analog sensor. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:63</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a793c8789a7598e8aaf766939da7262af"><div class="ttname"><a href="namespaceblmc__robots.html#a793c8789a7598e8aaf766939da7262af">blmc_robots::CanBus_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::CanBus &gt; CanBus_ptr</div><div class="ttdoc">CanBus_ptr shortcut for the shared pointer CanBus type. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:38</div></div>
<div class="ttc" id="namespaceblmc__robots_html_aeba0df1e898326cde4922419d871c5c6"><div class="ttname"><a href="namespaceblmc__robots.html#aeba0df1e898326cde4922419d871c5c6">blmc_robots::Motor_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::Motor &gt; Motor_ptr</div><div class="ttdoc">Motor_ptr shortcut for the shared pointer Motor type. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:53</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a9850cf917156e20846aef3f8195aea0f"><div class="ttname"><a href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">blmc_robots::SafeMotor_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::SafeMotor &gt; SafeMotor_ptr</div><div class="ttdoc">SafeMotor_ptr shortcut for the shared pointer SafeMotor type. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:58</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a932c1319d78144ebcaa8938ae070b784"><div class="ttname"><a href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">blmc_robots::Vector1d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 1, 1 &gt; Vector1d</div><div class="ttdoc">Vector2d shortcut for the eigen vector of size 1. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:23</div></div>
<div class="ttc" id="namespaceblmc__robots_html_acb6916bc8c9fe9d98c484fd4cc201447"><div class="ttname"><a href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">blmc_robots::Vector2d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 2, 1 &gt; Vector2d</div><div class="ttdoc">Vector2d shortcut for the eigen vector of size 2. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:28</div></div>
<div class="ttc" id="namespaceblmc__robots_html_aab1c6ddb1273247a1b45d5e8b417c216"><div class="ttname"><a href="namespaceblmc__robots.html#aab1c6ddb1273247a1b45d5e8b417c216">blmc_robots::CanBusMotorBoard_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::CanBusMotorBoard &gt; CanBusMotorBoard_ptr</div><div class="ttdoc">CanBusMotorBoard_Ptr shortcut for the shared pointer CanBus type. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:43</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a1975c6bb47bc85dfc8edfe349c30dae1"><div class="ttname"><a href="namespaceblmc__robots.html#a1975c6bb47bc85dfc8edfe349c30dae1">blmc_robots::mi</a></div><div class="ttdeci">blmc_drivers::MotorInterface::MeasurementIndex mi</div><div class="ttdoc">mi, this typedef is used to get the measurements from the blmc api </div><div class="ttdef"><b>Definition:</b> common_header.hpp:80</div></div>
<div class="ttc" id="namespaceblmc__robots_html_ae1a0f9992bc8fbbc1943d887f517c180"><div class="ttname"><a href="namespaceblmc__robots.html#ae1a0f9992bc8fbbc1943d887f517c180">blmc_robots::MotorInterface_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::MotorInterface &gt; MotorInterface_ptr</div><div class="ttdoc">MotorInterface_ptr shortcut for the shared pointer MotorInterface type. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:48</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a98975ffbe0bca1296078e0350dfedd60"><div class="ttname"><a href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">blmc_robots::Vector8d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 8, 1 &gt; Vector8d</div><div class="ttdoc">Vector8d shortcut for the eigen vector of size 8. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:33</div></div>
<div class="ttc" id="namespaceblmc__robots_html_ac78fe5c68e56a3b884117109959e4d58"><div class="ttname"><a href="namespaceblmc__robots.html#ac78fe5c68e56a3b884117109959e4d58">blmc_robots::ContactSensor_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt; ContactSensor_ptr</div><div class="ttdoc">ContactSensor_ptr shortcut for the contact sensor. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:69</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
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